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CEAS EuroGNC 2022

Implementation of a 3D laser-based mapping system using an sUAS swarm
Fabian Franz M.Sc., Chair of Flight Guidance & Air Transport, TU Berlin, 10587, Berlin, Germany.
Maarten Uijt de Haag Professor, Chair of Flight Guidance & Air Transport, TU Berlin, 10587, Berlin, Germany.
Abstract:
This paper presents the implementation of a laser-based mapping mission using a swarm of smaller unmanned aerial vehicles (UAVs) rather than a single larger and heavier UAV that is typically used in most mapping applications. The proposed system includes various functions to perform the mapping task collaborative including path planning and point cloud generation. These functions have been implemented in software and hardware using the Crazyflie 2.1 development platform and validated in a relevant test environment in the UAS Swarm Lab at the TU Berlin. Three different tests in various urban environments were executed successfully to analyze the developed system's performance. It is shown that a swarm of UAVs in combination with a user-friendly remote operator and planning tool, is a very promising approach to perform urban mapping and surveying tasks more efficiently.
Keywords: UAV; swarms; collaboration; navigation; planning; mapping
 View PDF CEAS-GNC-2022-060


Fabian Franz, Maarten Uijt de Haag: Implementation of a 3D laser-based mapping system using an sUAS swarm. Proceedings of the 2022 CEAS EuroGNC conference. Berlin, Germany. May 2022. CEAS-GNC-2022-060.
BibTeX entry:

@Incollection{CEAS-GNC-2022-060,
    authors = {Franz, Fabian and Uijt de Haag, Maarten},
    title = {Implementation of a 3D laser-based mapping system using an sUAS swarm},
    booktitle = {Proceedings of the 2022 {CEAS EuroGNC} conference},
    address = {Berlin, Germany},
    month = may,
    year = {2022},
    note = {CEAS-GNC-2022-060}
}